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https://github.com/paparazzi/paparazzi.git
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Christophe De Wagter
4e00e22993
* WLS Debug WLS Debug * track new develop branch * WLS to use pointer of struct to allow multiple calls of WLS in the same control loop * additional changes and bug fixes to wls struct pointer rework * Track new pprzling branch with wls msg additions * code clean up * Implement new WLS in guidance and stabilization * code clean up * add wls mesg to telemetry. Fix stabilization wanring. * track pprzlink * Better casing * Use WLS_N_U_MAX and WLS_N_V_MAX * Register periodic telemetry of WLS only if WLS is used * Track master pprzlink * Shortened explanation of parameters * track pprzlink master --------- Co-authored-by: Tomaso Maria Luigi De Ponti <48210579+tmldeponti@users.noreply.github.com> Co-authored-by: tomaso_de_ponti <tomasodp@gmail.com>
28 lines
873 B
XML
28 lines
873 B
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="wls" task="core">
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<doc>
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<description>
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Weighted Least Square optimization algorithm.
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Used for dynamic allocation of actuators, in particular
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with INDI-based control algorithms.
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The size of the matrix (output vs. objectives) must be defined large
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enough for all the controllers
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</description>
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<define name="WLS_N_U_MAX" value="4" description="size of the control output vector (default: 6)"/>
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<define name="WLS_N_V_MAX" value="4" description="size of the control objectives vector (default: 4)"/>
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</doc>
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<header>
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<file name="wls_alloc.h" dir="math/wls"/>
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</header>
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<makefile>
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<file name="wls_alloc.c" dir="math/wls"/>
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<file name="qr_solve.c" dir="math/qr_solve"/>
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<file name="r8lib_min.c" dir="math/qr_solve"/>
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<test/>
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</makefile>
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</module>
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